mirror of https://github.com/ArduPilot/ardupilot
54 lines
1.6 KiB
C++
54 lines
1.6 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef AP_RangeFinder_PX4_H
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#define AP_RangeFinder_PX4_H
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#include "RangeFinder.h"
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#include "RangeFinder_Backend.h"
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class AP_RangeFinder_PX4 : public AP_RangeFinder_Backend
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{
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public:
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// constructor
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AP_RangeFinder_PX4(RangeFinder &ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state);
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// destructor
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~AP_RangeFinder_PX4(void);
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// static detection function
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static bool detect(RangeFinder &ranger, uint8_t instance);
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// update state
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void update(void);
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private:
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int _fd;
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uint64_t _last_timestamp;
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int16_t _last_max_distance_cm;
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int16_t _last_min_distance_cm;
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// we need to keep track of how many PX4 drivers have been loaded
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// so we can open the right device filename
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static uint8_t num_px4_instances;
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// try to open the PX4 driver and return its fd
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static int open_driver(void);
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};
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#endif // AP_RangeFinder_PX4_H
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